Sliding Mode Control for Robotic Manipulators with Input and Output Quantization

Abstract

Ahstract-This paper introduces a sliding mode control (SMC) strategy for robotic manipulators subject to uncertainties, disturbances, and input and output quantization. A continuous SMC method is proposed and a hysteretic quantizer with sector-bounded quantization errors is utilized to quantize the control input signal. Furthermore, a super-twisting algorithm (STA) based observer is adopted to estimate the unmeasured states by using quantized values of output signals. It is demonstrated that under the proposed SMC, the sliding variable can converge to a quasi sliding mode. Finally, a networked two-link robotic manipulator is used to verify the effectiveness of the proposed control method.